version: 66.04
glider: 108
mission: 11
dive: 529
start: 12 29 108 10 34 40
data:
$ID,108
$MISSION,11
$DIVE,529
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,50
$D_FINISH,7
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,470
$T_MISSION,550
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,900
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.02765
$MASS,51779
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,2.7999999e-06
$HEADING,-1
$ESCAPE_HEADING,80
$ESCAPE_HEADING_DELTA,5
$FIX_MISSING_TIMEOUT,3
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,225
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-126752.72
$T_RSLEEP,60
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,350
$PITCH_MAX,3700
$C_PITCH,2680
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,294
$ROLL_MAX,3598
$ROLL_DEG,40
$C_ROLL_DIVE,2230
$C_ROLL_CLIMB,1740
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,275
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,588
$VBD_MAX,3951
$C_VBD,2650
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-22.639299
$PRESSURE_SLOPE,0.0001161151
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,1.8
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043498399
$SEABIRD_T_H,0.0006493734
$SEABIRD_T_I,2.8112627e-05
$SEABIRD_T_J,3.1957888e-06
$SEABIRD_C_G,-10.106751
$SEABIRD_C_H,1.1366181
$SEABIRD_C_I,0.00038917549
$SEABIRD_C_J,7.9540005e-05
$GPS1,082640,6630.280,-6002.659,0,4117.2,0,-37.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.69
$_SM_ANGLEo,-65.2
$GPS2,082640,6630.280,-6002.659,0,4117.2,0,-37.3
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,15000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,343.6,36667,-13.0,-7.021
$D_GRID,528
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.99,-146.0,0.0,0.0,0,23,0.00,0.00,-5.57,0.000,2,0.000,0.000,324,2229,1612
$GC,27,-0.99,-146.0,3.7,-0.0,1,120,9.18,2.30,-76.10,0.000,4,0.251,0.094,2455,3603,3246
$GC,286,-0.77,-146.0,25.0,-11.7,46,293,0.20,2.20,0.00,0.000,6,0.153,0.054,2514,2220,3251
$GC,632,-0.77,-146.0,57.0,-9.4,107,638,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2220,3251
$GC,977,-0.77,-146.0,86.2,-8.3,168,983,0.00,2.25,0.00,0.000,4,0.000,0.067,2514,822,3251
$GC,1069,-0.72,-146.0,94.5,-8.9,184,1075,0.00,2.35,0.00,0.000,6,0.000,0.067,2506,2242,3251
$GC,1402,-0.72,-146.0,122.0,-8.7,208,1406,0.00,2.25,0.00,0.000,4,0.000,0.081,2495,3601,3251
$GC,1548,-0.66,-146.0,136.7,-10.6,214,1552,0.15,2.20,0.00,0.000,6,0.150,0.054,2535,2215,3251
$GC,1871,-0.77,-146.0,162.4,-8.6,230,1875,0.00,2.25,0.00,0.000,4,0.000,0.067,2535,815,3250
$GC,1956,-0.84,-146.0,170.1,-8.3,233,1963,0.12,2.35,0.00,0.000,6,0.081,0.067,2477,2238,3251
$GC,2273,-0.76,-146.0,200.2,-8.7,249,2277,0.15,2.25,0.00,0.000,4,0.150,0.080,2509,3595,3251
$GC,2447,-0.82,-146.0,213.0,-7.5,257,2451,0.00,2.17,0.00,0.000,6,0.000,0.054,2509,2220,3251
$GC,2781,-0.86,-146.0,237.8,-7.4,273,2784,0.00,2.25,0.00,0.000,4,0.000,0.066,2509,820,3251
$GC,2975,-0.86,-146.0,253.5,-8.3,281,2979,0.00,2.35,0.00,0.000,6,0.000,0.067,2500,2238,3250
$GC,3298,-0.86,-146.0,279.7,-8.5,297,3302,0.00,2.25,0.00,0.000,4,0.000,0.081,2489,3596,3251
$GC,3412,-0.86,-146.0,290.6,-9.3,302,3416,0.00,2.17,0.00,0.000,6,0.000,0.054,2489,2226,3251
$GC,3746,-0.86,-146.0,318.5,-8.3,318,3750,0.00,2.28,0.00,0.000,4,0.000,0.067,2489,814,3251
$GC,3892,-0.86,-146.0,331.1,-8.1,324,3896,0.00,2.35,0.00,0.000,6,0.000,0.067,2480,2232,3251
$GC,4214,-0.86,-146.0,353.2,-5.7,340,4215,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2232,3251
$GC,4524,-0.86,-146.0,369.4,-5.5,355,4525,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2232,3251
$GC,4832,-0.86,-146.0,388.9,-6.8,370,4836,0.00,2.33,0.00,0.000,4,0.000,0.064,2480,813,3250
$GC,4933,-0.86,-146.0,396.6,-7.9,374,4938,0.10,2.35,0.00,0.000,6,0.142,0.064,2495,2236,3250
$GC,5266,-0.95,-146.0,418.9,-6.4,383,5268,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2236,3251
$GC,5591,-1.04,-146.0,438.4,-6.1,391,5593,0.15,0.00,0.00,0.000,6,0.081,0.000,2436,2236,3251
$GC,5917,-0.91,-146.0,466.6,-8.9,399,5919,0.17,0.00,0.00,0.000,6,0.150,0.000,2484,2236,3252
$GC,6241,-0.97,-146.0,488.0,-6.4,407,6242,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2236,3252
$GC,6569,-1.01,-146.0,506.8,-5.6,415,6571,0.10,0.00,0.00,0.000,6,0.091,0.000,2442,2236,3253
$GC,6892,-1.49,-146.0,515.7,-0.0,423,6897,0.22,2.33,0.00,0.000,4,0.068,0.061,2342,816,3254
$STATE,6966,end dive,NO_VERTICAL_VELOCITY
$STATE,6967,begin apogee
$GC,6976,-0.31,0.0,515.7,0.0,424,7107,0.80,0.00,128.05,1.173,6,0.099,0.000,2611,1743,2650
$STATE,7108,end apogee,CONTROL_FINISHED_OK
$STATE,7108,begin climb
$GC,7112,0.99,146.0,515.5,0.0,428,7255,0.88,2.65,133.05,1.095,4,0.090,0.066,2895,3148,2054
$GC,7376,0.66,146.0,490.2,10.9,434,7381,0.30,2.40,0.00,0.000,6,0.137,0.051,2825,1742,2049
$GC,7697,0.78,178.9,470.4,6.0,442,7732,0.10,2.42,28.75,1.074,4,0.083,0.067,2870,3145,1920
$GC,7744,0.66,178.9,466.7,7.5,443,7749,0.22,2.33,0.00,0.000,6,0.133,0.051,2817,1724,1919
$GC,8064,0.85,224.6,448.6,5.6,451,8111,0.17,2.45,40.42,1.088,4,0.067,0.066,2893,3148,1734
$GC,8118,0.75,224.6,443.8,8.5,452,8123,0.22,2.30,0.00,0.000,6,0.134,0.049,2840,1732,1733
$GC,8468,0.85,224.6,417.3,7.4,461,8469,0.10,0.00,0.00,0.000,6,0.082,0.000,2887,1732,1728
$GC,8773,0.76,224.6,387.4,9.1,471,8775,0.15,0.00,0.00,0.000,6,0.127,0.000,2844,1732,1728
$GC,9083,0.94,273.2,370.2,5.5,486,9129,0.15,0.00,43.47,1.065,6,0.072,0.000,2910,1732,1536
$GC,9432,0.83,273.2,332.3,11.5,503,9437,0.17,2.35,0.00,0.000,4,0.129,0.067,2858,3158,1531
$GC,9444,0.74,273.2,330.9,11.7,503,9450,0.10,2.28,0.00,0.000,6,0.138,0.051,2837,1724,1530
$GC,9760,1.43,273.2,304.8,9.4,519,9762,0.47,0.00,0.00,0.000,6,0.093,0.000,2999,1724,1528
$GC,10070,1.04,273.2,260.4,16.0,534,10075,0.30,2.35,0.00,0.000,4,0.146,0.067,2906,3155,1528
$GC,10082,0.67,273.2,258.2,16.2,534,10089,0.30,2.25,0.00,0.000,6,0.127,0.051,2824,1728,1527
$GC,10398,1.33,273.2,230.9,9.3,550,10401,0.45,0.00,0.00,0.000,6,0.099,0.000,2974,1728,1526
$GC,10707,1.33,273.2,203.0,8.7,565,10711,0.00,2.35,0.00,0.000,4,0.000,0.069,2975,3159,1526
$GC,10826,0.97,273.2,189.1,11.8,570,10831,0.32,2.28,0.00,0.000,6,0.143,0.054,2891,1728,1526
$GC,11148,1.09,282.5,169.8,6.7,586,11163,0.10,2.38,7.57,0.870,4,0.083,0.067,2940,3148,1498
$GC,11170,1.09,282.5,167.8,8.8,587,11175,0.15,2.25,0.00,0.000,6,0.140,0.053,2909,1729,1498
$GC,11500,1.17,282.5,141.9,7.1,603,11501,0.10,0.00,0.00,0.000,6,0.084,0.000,2957,1729,1498
$GC,11807,1.07,282.5,114.1,8.6,618,11812,0.17,2.35,0.00,0.000,4,0.134,0.070,2906,3152,1498
$GC,11825,1.02,282.5,112.5,8.4,619,11829,0.00,2.25,0.00,0.000,6,0.000,0.054,2913,1736,1498
$GC,12154,1.16,319.0,90.5,5.8,650,12195,0.00,2.38,34.12,0.946,4,0.000,0.071,2913,3155,1349
$GC,12203,1.29,343.8,87.4,6.2,658,12233,0.12,2.30,23.75,0.897,6,0.081,0.054,2974,1730,1248
$GC,12576,1.18,343.8,47.6,10.7,723,12582,0.15,0.00,0.00,0.000,6,0.143,0.000,2932,1730,1241
$GC,12921,1.24,343.8,20.2,8.3,784,12927,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,1730,1239
$FREEZE,6.81,-1.776,-1.777
$STATE,13083,end climb,FINISH_DEPTH_REACHED
$STATE,13083,begin subsurface finish
$FINISH1,6.8,1.026044,79
$GC,13096,0.10,78.9,6.8,-9.0,813,13138,0.70,2.38,-36.60,0.000,4,0.110,0.083,2696,329,2331
$FINISH2,5.5
$STATE,13139,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13139,begin surface
$RAFOS_CLK,640
$RAFOS,4,1230554644,12.750000,12.734445,66,60,54,53,52,51,889,201,212,177,131,188
$RAFOS,3,1230554042,12.583333,12.567223,99,66,60,59,57,57,719,201,161,218,116,151
$RAFOS,2,1230553442,12.416667,12.400556,67,58,58,57,55,55,218,197,182,206,119,162
$RAFOS,1,1230552873,12.250000,12.242500,107,72,55,55,53,53,592,209,224,174,139,156
$RAFOS,0,1230552264,12.083333,12.073334,99,66,57,57,55,50,508,150,214,197,163,180
$RAFOS_FIX,6631.254883,-6004.493652,291208,121208,4,93,0.16
$IRIDIUM_FIX,6614.97,-5735.48,170398,050547
$TT8_MAMPS,0.026845
$HUMID,1834
$INTERNAL_PRESSURE,9.89296
$TCM_TEMP,14.70
$XPDR_PINGS,118
$24V_AH,21.5,85.564
$10V_AH,10.4,39.294
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,17.275,89.450,439.200,0.000,0.000,99.189,85.357,0.000,29.500,0.000,0.000,182.214,1480.456,9493.059,547.414,1755.046,782.184,0.000,1402.719,0.000,1559.558,1800.000,0.530,0.000
$DEVICE_MAMPS,250.809,93.574,1172.743,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,573.332,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25320,820
$CAP_FILE_SIZE,108041,0
$CFSIZE,260165632,216985600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1444.7
$GPS,291208,122608,6631.255,-6004.494,0,4092.8,0,-37.3